package org.usfirst.frc.team3501.robot;
-import org.usfirst.frc.team3501.robot.AnotherGyroClass.Rotation;
import org.usfirst.frc.team3501.robot.Constants.Defense;
import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.Scaler;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
-import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class Robot extends IterativeRobot {
- public static OI oi;
- public static DriveTrain driveTrain;
- public static Shooter shooter;
-
- public static Scaler scaler;
- double then;
-
- public static IntakeArm intakeArm;
- public static DefenseArm defenseArm;
+ public static OI oi;
+ public static DriveTrain driveTrain;
+ public static Shooter shooter;
+ public static Scaler scaler;
+ public static IntakeArm intakeArm;
+ public static DefenseArm defenseArm;
// Sendable Choosers send a drop down menu to the Smart Dashboard.
SendableChooser positionChooser;
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
positionFourDefense, positionFiveDefense;
- // Gyro stuff
- short rawValue;
- public AnotherGyroClass gyro;
-
- double now;
- double degreesIncreased;
- double degrees;
-
- Rotation rotation;
-
@Override
public void robotInit() {
- // driveTrain = new DriveTrain();
- gyro = new AnotherGyroClass(I2C.Port.kOnboard, false);
- // oi = new OI();
-
+ driveTrain = new DriveTrain();
+ oi = new OI();
shooter = new Shooter();
scaler = new Scaler();
defenseArm = new DefenseArm();
intakeArm = new IntakeArm();
- // Sendable Choosers allows the driver to select the position of the
- // robot
+ // Sendable Choosers allows the driver to select the position of the robot
// and the positions of the defenses from a drop-down menu on the Smart
// Dashboard
// make the Sendable Choosers
- // initializeSendableChoosers();
- // addPositionChooserOptions();
- // addDefensesToAllDefenseSendableChooosers();
- // sendSendableChoosersToSmartDashboard();
+ initializeSendableChoosers();
+ addPositionChooserOptions();
+ addDefensesToAllDefenseSendableChooosers();
+ sendSendableChoosersToSmartDashboard();
}
positionFourDefense);
SmartDashboard.putData("Position Five Defense Chooser",
positionFiveDefense);
-
- SmartDashboard.putData("Position Four Defense Chooser",
- positionFourDefense);
- SmartDashboard.putData("Position Five Defense Chooser",
- positionFiveDefense);
-
- shooter = new Shooter();
-
}
@Override
Scheduler.getInstance().run();
}
-
}